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<li class="navelem"><a class="el" href="namespacecollision.html">collision</a></li><li class="navelem"><a class="el" href="classcollision_1_1_shape.html">Shape</a></li>  </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="classcollision_1_1_shape-members.html">List of all members</a>  </div>
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<div class="title">collision::Shape Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>Base prototype for the shape of an obstacle.  
 <a href="classcollision_1_1_shape.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="shape_8h_source.html">shape.h</a>&gt;</code></p>
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Inheritance diagram for collision::Shape:</div>
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  <img src="classcollision_1_1_shape.png" usemap="#collision::Shape_map" alt=""/>
  <map id="collision::Shape_map" name="collision::Shape_map">
<area href="classcollision_1_1_collision_object_ex.html" title="Provides functionality to use different collision solvers." alt="collision::CollisionObjectEx" shape="rect" coords="596,112,884,136"/>
<area href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object.html" alt="collision::solvers::solverFCL::IFCLCollisionObject" shape="rect" coords="894,112,1182,136"/>
<area href="classcollision_1_1_collision_object.html" title="Base class for CollisionObjects and some of their groups." alt="collision::CollisionObject" shape="rect" coords="596,56,884,80"/>
<area href="classcollision_1_1_point.html" title="A point in space." alt="collision::Point" shape="rect" coords="0,224,288,248"/>
<area href="classcollision_1_1_polygon.html" title="Polygon contains Triangles and Vertices." alt="collision::Polygon" shape="rect" coords="298,224,586,248"/>
<area href="classcollision_1_1_rectangle_a_a_b_b.html" title="Axis-aligned rectangle." alt="collision::RectangleAABB" shape="rect" coords="596,224,884,248"/>
<area href="classcollision_1_1_rectangle_o_b_b.html" title="Oriented rectangle." alt="collision::RectangleOBB" shape="rect" coords="894,224,1182,248"/>
<area href="classcollision_1_1_sphere.html" title="Circle." alt="collision::Sphere" shape="rect" coords="1192,224,1480,248"/>
<area href="classcollision_1_1_triangle.html" title="Triangle." alt="collision::Triangle" shape="rect" coords="1490,224,1778,248"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a7f344a99a3e155fb725d750321350fe7"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a7f344a99a3e155fb725d750321350fe7">getCollisionObjectClass</a> () const override</td></tr>
<tr class="separator:a7f344a99a3e155fb725d750321350fe7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a707571ba3a684c0ef61c82b099ea8035"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_solver_entity___f_c_l.html">ISolverEntity_FCL</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a707571ba3a684c0ef61c82b099ea8035">getFclInterface</a> () const override</td></tr>
<tr class="separator:a707571ba3a684c0ef61c82b099ea8035"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac8e7fe1b16ef1ee803d511b593ae2936"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ac8e7fe1b16ef1ee803d511b593ae2936">Shape</a> (const <a class="el" href="classcollision_1_1_shape.html">Shape</a> &amp;copy)</td></tr>
<tr class="separator:ac8e7fe1b16ef1ee803d511b593ae2936"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2eb0283fa4f04436df2f1ec2937b064f"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classcollision_1_1_shape.html">Shape</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a2eb0283fa4f04436df2f1ec2937b064f">clone</a> () const =0</td></tr>
<tr class="separator:a2eb0283fa4f04436df2f1ec2937b064f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca9a2f6e0de0822e241e39dad9c419ce"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aca9a2f6e0de0822e241e39dad9c419ce">center</a> () const</td></tr>
<tr class="memdesc:aca9a2f6e0de0822e241e39dad9c419ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get geometric center of shape.  <a href="#aca9a2f6e0de0822e241e39dad9c419ce">More...</a><br /></td></tr>
<tr class="separator:aca9a2f6e0de0822e241e39dad9c419ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a690571543f14979499df6fbada671f1f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a690571543f14979499df6fbada671f1f">center_x</a> () const</td></tr>
<tr class="separator:a690571543f14979499df6fbada671f1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabac3270d60bb5affed693af36fd39d8"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aabac3270d60bb5affed693af36fd39d8">center_y</a> () const</td></tr>
<tr class="separator:aabac3270d60bb5affed693af36fd39d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55dc047a30f0c61947d0bb46df3af8dd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a55dc047a30f0c61947d0bb46df3af8dd">set_center</a> (const Eigen::Vector2d &amp;_center)</td></tr>
<tr class="memdesc:a55dc047a30f0c61947d0bb46df3af8dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set geometric center of shape.  <a href="#a55dc047a30f0c61947d0bb46df3af8dd">More...</a><br /></td></tr>
<tr class="separator:a55dc047a30f0c61947d0bb46df3af8dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa415ef83e29916ba893fd3452eb06290"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#aa415ef83e29916ba893fd3452eb06290">print</a> (std::ostringstream &amp;stream) const =0</td></tr>
<tr class="memdesc:aa415ef83e29916ba893fd3452eb06290"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print all parameters of the shape.  <a href="#aa415ef83e29916ba893fd3452eb06290">More...</a><br /></td></tr>
<tr class="separator:aa415ef83e29916ba893fd3452eb06290"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2bec0ccd43f30004758b2112b46659d4"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a2bec0ccd43f30004758b2112b46659d4">timeSlice</a> (int time_idx, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> shared_ptr_this) const</td></tr>
<tr class="separator:a2bec0ccd43f30004758b2112b46659d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac80f4a8216ca9f78e0a55dcc4dd4bb6e"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#ad1b9e0627f58ff6e988d3d1f3b3537a3">ShapeType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">type</a> () const =0</td></tr>
<tr class="memdesc:ac80f4a8216ca9f78e0a55dcc4dd4bb6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get shape type.  <a href="#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">More...</a><br /></td></tr>
<tr class="separator:ac80f4a8216ca9f78e0a55dcc4dd4bb6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad2b8994c5daeaab71cb04a73a6de8b0f"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ad2b8994c5daeaab71cb04a73a6de8b0f">radius</a> () const</td></tr>
<tr class="memdesc:ad2b8994c5daeaab71cb04a73a6de8b0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get radius.  <a href="#ad2b8994c5daeaab71cb04a73a6de8b0f">More...</a><br /></td></tr>
<tr class="separator:ad2b8994c5daeaab71cb04a73a6de8b0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1efc0d3437abbac61d5c444b9d1becf5"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a1efc0d3437abbac61d5c444b9d1becf5">~Shape</a> ()</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:a358c5ace931619be56d441bdd8da4762 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a358c5ace931619be56d441bdd8da4762">CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a8c5a1b6ed938b80cd858d9107684ca9f inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a8c5a1b6ed938b80cd858d9107684ca9f">~CollisionObjectEx</a> ()</td></tr>
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<tr class="memitem:a7fa9738682fe6d4cdef843e99fa5e693 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7fa9738682fe6d4cdef843e99fa5e693">collide</a> (const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> &amp;c, const <a class="el" href="classcollision_1_1_collision_request.html">collision::CollisionRequest</a> &amp;req=<a class="el" href="classcollision_1_1_collision_request.html">CollisionRequest</a>()) const</td></tr>
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<tr class="memitem:a50d6ae971b8c05c6ad8e876ed3141733 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a50d6ae971b8c05c6ad8e876ed3141733">BVCheck</a> (<a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj2) const</td></tr>
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<tr class="memitem:a7cbe600ed254b8e9ae54fd1e658d6991 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; const <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a7cbe600ed254b8e9ae54fd1e658d6991">getAABB</a> () const</td></tr>
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<tr class="memitem:a1e96193008a86cfe46c873d358aadc67 inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a1e96193008a86cfe46c873d358aadc67">getSolverEntity</a> (<a class="el" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *&amp;ptr) const</td></tr>
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<tr class="memitem:a13442077fa8b22d7af2ae035dec5debe inherit pub_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classcollision_1_1_i_collision_container.html">ICollisionContainer</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#a13442077fa8b22d7af2ae035dec5debe">getContainerInterface</a> (void) const</td></tr>
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<tr class="inherit_header pub_methods_classcollision_1_1_collision_object"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcollision_1_1_collision_object')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></td></tr>
<tr class="memitem:a96352a5369914c677a8f826b68028205 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a96352a5369914c677a8f826b68028205">~CollisionObject</a> ()</td></tr>
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<tr class="memitem:a2bc867e40184d64561ceac3f2276f976 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="namespacecollision.html#a450ba6ce42e02aa75e1a94fcbddae149">CollisionObjectType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a2bc867e40184d64561ceac3f2276f976">getCollisionObjectType</a> () const</td></tr>
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<tr class="memitem:a9bc84c4dd5f378403d31393326a0644e inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a9bc84c4dd5f378403d31393326a0644e">toString</a> (std::ostringstream &amp;stream) const</td></tr>
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<tr class="memitem:a525c0826bd7ef13b2fe62868d3e49d30 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a525c0826bd7ef13b2fe62868d3e49d30">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map) const</td></tr>
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<tr class="memitem:a8b14d81e4da802dd2a5f805162cf6ad4 inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a8b14d81e4da802dd2a5f805162cf6ad4">addParentMap</a> (std::unordered_map&lt; const <a class="el" href="classcollision_1_1_collision_object.html">CollisionObject</a> *, std::list&lt; <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> &gt;&gt; &amp;parent_map, <a class="el" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> parent) const</td></tr>
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<tr class="memitem:a43b2608cfc67b33f4aa4216e11a9990d inherit pub_methods_classcollision_1_1_collision_object"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object.html#a43b2608cfc67b33f4aa4216e11a9990d">rayTrace</a> (const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; <a class="el" href="classcollision_1_1_line_segment.html">LineSegment</a> &gt; &amp;intersect) const</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a8aa65a2f272b0bfd2af0435307c082e1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a8aa65a2f272b0bfd2af0435307c082e1">Shape</a> (const Eigen::Vector2d &amp;_center)</td></tr>
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<tr class="inherit_header pro_methods_classcollision_1_1_collision_object_ex"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcollision_1_1_collision_object_ex')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcollision_1_1_collision_object_ex.html">collision::CollisionObjectEx</a></td></tr>
<tr class="memitem:ab080033cf96284d10d0a7950bf2fd595 inherit pro_methods_classcollision_1_1_collision_object_ex"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_collision_object_ex.html#ab080033cf96284d10d0a7950bf2fd595">invalidateCollisionEntityCache</a> (void)</td></tr>
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Protected Attributes</h2></td></tr>
<tr class="memitem:a3a397b619573e160d18954605a11f7bd"><td class="memItemLeft" align="right" valign="top">Eigen::Vector2d&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#a3a397b619573e160d18954605a11f7bd">center_</a></td></tr>
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<tr class="memitem:ab453849fed42ee9769df87210ca5262d"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcollision_1_1_shape.html#ab453849fed42ee9769df87210ca5262d">radius_</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Base prototype for the shape of an obstacle. </p>

<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00024">24</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ac8e7fe1b16ef1ee803d511b593ae2936"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac8e7fe1b16ef1ee803d511b593ae2936">&#9670;&nbsp;</a></span>Shape() <span class="overload">[1/2]</span></h2>

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          <td class="paramname"><em>copy</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00007">7</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a1efc0d3437abbac61d5c444b9d1becf5">&#9670;&nbsp;</a></span>~Shape()</h2>

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<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00005">5</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a8aa65a2f272b0bfd2af0435307c082e1">&#9670;&nbsp;</a></span>Shape() <span class="overload">[2/2]</span></h2>

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          <td>(</td>
          <td class="paramtype">const Eigen::Vector2d &amp;&#160;</td>
          <td class="paramname"><em>_center</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00068">68</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
<a id="aca9a2f6e0de0822e241e39dad9c419ce"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aca9a2f6e0de0822e241e39dad9c419ce">&#9670;&nbsp;</a></span>center()</h2>

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          <td class="memname">Eigen::Vector2d collision::Shape::center </td>
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<p>Get geometric center of shape. </p>

<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00016">16</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a690571543f14979499df6fbada671f1f">&#9670;&nbsp;</a></span>center_x()</h2>

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          <td class="memname">double collision::Shape::center_x </td>
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<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00018">18</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aabac3270d60bb5affed693af36fd39d8">&#9670;&nbsp;</a></span>center_y()</h2>

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          <td class="memname">double collision::Shape::center_y </td>
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<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00020">20</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2eb0283fa4f04436df2f1ec2937b064f">&#9670;&nbsp;</a></span>clone()</h2>

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          <td class="memname">virtual <a class="el" href="classcollision_1_1_shape.html">Shape</a>* collision::Shape::clone </td>
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<p>Implemented in <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#aedc9a67415d132222cc2a3035b7ff30c">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#a8ff55c0205cb596a6606d733b4fe7640">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_sphere.html#a3a753fc06c7a44f0a1c9321e73ae0045">collision::Sphere</a>, <a class="el" href="classcollision_1_1_triangle.html#ac9d904f22f2a59ebfea06da723d91042">collision::Triangle</a>, <a class="el" href="classcollision_1_1_polygon.html#a1c56f4c464b57bcea59b028b1ae4a830">collision::Polygon</a>, and <a class="el" href="classcollision_1_1_point.html#aac9adc92238a39936e1d8760f8085a70">collision::Point</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a7f344a99a3e155fb725d750321350fe7">&#9670;&nbsp;</a></span>getCollisionObjectClass()</h2>

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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="namespacecollision.html#a6e97ae92656250cd1667b6a73100843f">CollisionObjectClass</a> collision::Shape::getCollisionObjectClass </td>
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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a0d72d251df66cd7a7f42ec11eee1531f">collision::CollisionObject</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00028">28</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a707571ba3a684c0ef61c82b099ea8035">&#9670;&nbsp;</a></span>getFclInterface()</h2>

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<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object_ex.html#aabb5bfbf265a9816dd0e94fb3d883612">collision::CollisionObjectEx</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00032">32</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aa415ef83e29916ba893fd3452eb06290">&#9670;&nbsp;</a></span>print()</h2>

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<p>Print all parameters of the shape. </p>

<p>Reimplemented from <a class="el" href="classcollision_1_1_collision_object.html#a08e7481df513e04cc02ae6806ce56020">collision::CollisionObject</a>.</p>

<p>Implemented in <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a95730f2c860668929a2a1b50a128ba9d">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#a86d3fdaa0140e5d36b3e0c8f00052cec">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_sphere.html#acb5bcd4a264388c5add9533b75488977">collision::Sphere</a>, <a class="el" href="classcollision_1_1_triangle.html#ad8a5d2fd47ff87ff930a87fa0b66e34d">collision::Triangle</a>, <a class="el" href="classcollision_1_1_polygon.html#af3bedde3049919e0d0c078a76e70adc7">collision::Polygon</a>, and <a class="el" href="classcollision_1_1_point.html#ac525efda27b241de0f5468e2c8a2ecf4">collision::Point</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ad2b8994c5daeaab71cb04a73a6de8b0f">&#9670;&nbsp;</a></span>radius()</h2>

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<p>Get radius. </p>

<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00027">27</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a55dc047a30f0c61947d0bb46df3af8dd">&#9670;&nbsp;</a></span>set_center()</h2>

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          <td class="memname">void collision::Shape::set_center </td>
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<p>Set geometric center of shape. </p>

<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00022">22</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a2bec0ccd43f30004758b2112b46659d4">&#9670;&nbsp;</a></span>timeSlice()</h2>

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<p>Implements <a class="el" href="classcollision_1_1_collision_object.html#ada59ea467dae56bd3aba491fce9a05a3">collision::CollisionObject</a>.</p>

<p>Reimplemented in <a class="el" href="classcollision_1_1_polygon.html#a991b4dbc5536a52922e952f6da0df5aa">collision::Polygon</a>.</p>

<p class="definition">Definition at line <a class="el" href="shape_8cc_source.html#l00012">12</a> of file <a class="el" href="shape_8cc_source.html">shape.cc</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac80f4a8216ca9f78e0a55dcc4dd4bb6e">&#9670;&nbsp;</a></span>type()</h2>

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<p>Get shape type. </p>

<p>Implemented in <a class="el" href="classcollision_1_1_rectangle_o_b_b.html#a086a8835723ac7259881e1d7b9591d6d">collision::RectangleOBB</a>, <a class="el" href="classcollision_1_1_rectangle_a_a_b_b.html#a1ca98dec27c71f4bdc8e7776226fed41">collision::RectangleAABB</a>, <a class="el" href="classcollision_1_1_sphere.html#af5480bed16c4e3899f4b691a36ce60e7">collision::Sphere</a>, <a class="el" href="classcollision_1_1_triangle.html#a0bd9a731e00ab353de0fea5653049367">collision::Triangle</a>, <a class="el" href="classcollision_1_1_point.html#afdf2b1b2b71bb7513440bd8a6cf12f7a">collision::Point</a>, and <a class="el" href="classcollision_1_1_polygon.html#a31ae7f712f5da946ad569b056815747c">collision::Polygon</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a3a397b619573e160d18954605a11f7bd">&#9670;&nbsp;</a></span>center_</h2>

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<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00071">71</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab453849fed42ee9769df87210ca5262d">&#9670;&nbsp;</a></span>radius_</h2>

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          <td class="memname">double collision::Shape::radius_</td>
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<p class="definition">Definition at line <a class="el" href="shape_8h_source.html#l00072">72</a> of file <a class="el" href="shape_8h_source.html">shape.h</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>cpp/collision/include/collision/narrowphase/<a class="el" href="shape_8h_source.html">shape.h</a></li>
<li>cpp/collision/src/narrowphase/<a class="el" href="shape_8cc_source.html">shape.cc</a></li>
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